<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: filters/include/pcl/filters/normal_refinement.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('normal__refinement_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">normal_refinement.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_NORMAL_REFINEMENT_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_NORMAL_REFINEMENT_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> NormalT&gt; <span class="keyword">inline</span> std::vector&lt;float&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  assignNormalWeights (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;NormalT&gt;</a>&amp;,</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                       <span class="keywordtype">int</span>,</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                       <span class="keyword">const</span> std::vector&lt;int&gt;&amp; k_indices,</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                       <span class="keyword">const</span> std::vector&lt;float&gt;&amp; k_sqr_distances)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">// Check inputs</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">if</span> (k_indices.size () != k_sqr_distances.size ())</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      PCL_ERROR(<span class="stringliteral">&quot;[pcl::assignNormalWeights] inequal size of neighbor indices and distances!\n&quot;</span>);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">// TODO: For now we use uniform weights</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">return</span> (std::vector&lt;float&gt; (k_indices.size (), 1.0f));</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> NormalT&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  refineNormal (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;NormalT&gt;</a>&amp; cloud,</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                <span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                <span class="keyword">const</span> std::vector&lt;int&gt;&amp; k_indices,</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                <span class="keyword">const</span> std::vector&lt;float&gt;&amp; k_sqr_distances,</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                <a class="code" href="structpcl_1_1_normal.html">NormalT</a>&amp; point)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="comment">// Start by zeroing result</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    point.normal_x = 0.0f;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    point.normal_y = 0.0f;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    point.normal_z = 0.0f;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="comment">// Check inputs</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">if</span> (k_indices.size () != k_sqr_distances.size ())</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      PCL_ERROR(<span class="stringliteral">&quot;[pcl::refineNormal] inequal size of neighbor indices and distances!\n&quot;</span>);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">// Get weights</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">const</span> std::vector&lt;float&gt; weights = assignNormalWeights (cloud, index, k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="comment">// Loop over all neighbors and accumulate sum of normal components</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">float</span> nx = 0.0f;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">float</span> ny = 0.0f;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordtype">float</span> nz = 0.0f;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; k_indices.size (); ++i) {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="comment">// Neighbor</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a>&amp; pointi = cloud[k_indices[i]];</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="comment">// Accumulate if not NaN</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keywordflow">if</span> (pcl_isfinite (pointi.normal_x) &amp;&amp; pcl_isfinite (pointi.normal_y) &amp;&amp; pcl_isfinite (pointi.normal_z))</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; weighti = weights[i];</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        nx += weighti * pointi.normal_x;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        ny += weighti * pointi.normal_y;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        nz += weighti * pointi.normal_z;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="comment">// Normalize if norm valid and non-zero</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> norm = std::sqrt (nx * nx + ny * ny + nz * nz);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">if</span> (pcl_isfinite (norm) &amp;&amp; norm &gt; std::numeric_limits&lt;float&gt;::epsilon ())</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      point.normal_x = nx / norm;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      point.normal_y = ny / norm;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      point.normal_z = nz / norm;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> NormalT&gt;</div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html">  188</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_normal_refinement.html">NormalRefinement</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;NormalT&gt;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;NormalT&gt;::input_</a>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;NormalT&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;NormalT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;NormalT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#af173d467d9dd002f54b063214ab0c3a7">  201</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_refinement.html#af173d467d9dd002f54b063214ab0c3a7">NormalRefinement</a> () :</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;<a class="code" href="structpcl_1_1_normal.html">NormalT</a>&gt;::<a class="code" href="classpcl_1_1_filter.html">Filter</a> ()</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;NormalRefinement&quot;</span>;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="classpcl_1_1_normal_refinement.html#a87753f68d1bac8b8a0aea6425e1e8fe8">setMaxIterations</a> (15);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <a class="code" href="classpcl_1_1_normal_refinement.html#a190ffabfe99242ad274a69cfb1435345">setConvergenceThreshold</a> (0.00001f);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#aba4dd20feed866330bfda0299ffbf5ba">  213</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_refinement.html#aba4dd20feed866330bfda0299ffbf5ba">NormalRefinement</a> (<span class="keyword">const</span> std::vector&lt; std::vector&lt;int&gt; &gt;&amp; k_indices, <span class="keyword">const</span> std::vector&lt; std::vector&lt;float&gt; &gt;&amp; k_sqr_distances) :</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;<a class="code" href="structpcl_1_1_normal.html">NormalT</a>&gt;::<a class="code" href="classpcl_1_1_filter.html">Filter</a> ()</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;NormalRefinement&quot;</span>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <a class="code" href="classpcl_1_1_normal_refinement.html#ad98c13b9b37f269c7c297c5abc67bcdb">setCorrespondences</a> (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <a class="code" href="classpcl_1_1_normal_refinement.html#a87753f68d1bac8b8a0aea6425e1e8fe8">setMaxIterations</a> (15);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <a class="code" href="classpcl_1_1_normal_refinement.html#a190ffabfe99242ad274a69cfb1435345">setConvergenceThreshold</a> (0.00001f);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#ad98c13b9b37f269c7c297c5abc67bcdb">  227</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_refinement.html#ad98c13b9b37f269c7c297c5abc67bcdb">setCorrespondences</a> (<span class="keyword">const</span> std::vector&lt; std::vector&lt;int&gt; &gt;&amp; k_indices, <span class="keyword">const</span> std::vector&lt; std::vector&lt;float&gt; &gt;&amp; k_sqr_distances)</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <a class="code" href="classpcl_1_1_normal_refinement.html#a2e54d625b5731c5c98ede6bd796ba67f">k_indices_</a> = k_indices;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="classpcl_1_1_normal_refinement.html#af21df7cdd94a8cc28b4a5ef986af42b8">k_sqr_distances_</a> = k_sqr_distances;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#ae87cf1463b23d96ba02e486924c1739b">  238</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_refinement.html#ae87cf1463b23d96ba02e486924c1739b">getCorrespondences</a> (std::vector&lt; std::vector&lt;int&gt; &gt;&amp; k_indices, std::vector&lt; std::vector&lt;float&gt; &gt;&amp; k_sqr_distances)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        k_indices.assign (<a class="code" href="classpcl_1_1_normal_refinement.html#a2e54d625b5731c5c98ede6bd796ba67f">k_indices_</a>.begin (), <a class="code" href="classpcl_1_1_normal_refinement.html#a2e54d625b5731c5c98ede6bd796ba67f">k_indices_</a>.end ());</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        k_sqr_distances.assign (<a class="code" href="classpcl_1_1_normal_refinement.html#af21df7cdd94a8cc28b4a5ef986af42b8">k_sqr_distances_</a>.begin (), <a class="code" href="classpcl_1_1_normal_refinement.html#af21df7cdd94a8cc28b4a5ef986af42b8">k_sqr_distances_</a>.end ());</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#a87753f68d1bac8b8a0aea6425e1e8fe8">  248</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_refinement.html#a87753f68d1bac8b8a0aea6425e1e8fe8">setMaxIterations</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_iterations)</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <a class="code" href="classpcl_1_1_normal_refinement.html#a08901fccd9852de8a16d48db110174bf">max_iterations_</a> = max_iterations;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#a5938eccaed80043fb509a2fefcf7b377">  257</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_refinement.html#a5938eccaed80043fb509a2fefcf7b377">getMaxIterations</a> ()</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_normal_refinement.html#a08901fccd9852de8a16d48db110174bf">max_iterations_</a>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#a190ffabfe99242ad274a69cfb1435345">  266</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_refinement.html#a190ffabfe99242ad274a69cfb1435345">setConvergenceThreshold</a> (<span class="keywordtype">float</span> convergence_threshold)</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      {</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        <a class="code" href="classpcl_1_1_normal_refinement.html#a5446470db7e5631464bce6aa5b97282d">convergence_threshold_</a> = convergence_threshold;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#a2f4b2672735f25963583bffc8da87cb0">  275</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_refinement.html#a2f4b2672735f25963583bffc8da87cb0">getConvergenceThreshold</a> ()</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_normal_refinement.html#a5446470db7e5631464bce6aa5b97282d">convergence_threshold_</a>;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <a class="code" href="classpcl_1_1_normal_refinement.html#a2fc672c7b1249ab686e5947c35d85389">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00289"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#a2e54d625b5731c5c98ede6bd796ba67f">  289</a></span>&#160;      std::vector&lt; std::vector&lt;int&gt; &gt; <a class="code" href="classpcl_1_1_normal_refinement.html#a2e54d625b5731c5c98ede6bd796ba67f">k_indices_</a>;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      </div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#af21df7cdd94a8cc28b4a5ef986af42b8">  292</a></span>&#160;      std::vector&lt; std::vector&lt;float&gt; &gt; <a class="code" href="classpcl_1_1_normal_refinement.html#af21df7cdd94a8cc28b4a5ef986af42b8">k_sqr_distances_</a>;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      </div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#a08901fccd9852de8a16d48db110174bf">  295</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_normal_refinement.html#a08901fccd9852de8a16d48db110174bf">max_iterations_</a>;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      </div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_refinement.html#a5446470db7e5631464bce6aa5b97282d">  298</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_normal_refinement.html#a5446470db7e5631464bce6aa5b97282d">convergence_threshold_</a>;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  };</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;}</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/normal_refinement.hpp&gt;</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_NormalRefinement(T) template class PCL_EXPORTS pcl::NormalRefinement&lt;T&gt;;</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="preprocessor">#endif </span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter&lt; NormalT &gt;::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html">pcl::NormalRefinement</a></div><div class="ttdoc">Normal vector refinement class</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_a08901fccd9852de8a16d48db110174bf"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#a08901fccd9852de8a16d48db110174bf">pcl::NormalRefinement::max_iterations_</a></div><div class="ttdeci">unsigned int max_iterations_</div><div class="ttdoc">Maximum allowable iterations over the whole point cloud for refinement</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_a190ffabfe99242ad274a69cfb1435345"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#a190ffabfe99242ad274a69cfb1435345">pcl::NormalRefinement::setConvergenceThreshold</a></div><div class="ttdeci">void setConvergenceThreshold(float convergence_threshold)</div><div class="ttdoc">Set convergence threshold</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:266</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_a2e54d625b5731c5c98ede6bd796ba67f"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#a2e54d625b5731c5c98ede6bd796ba67f">pcl::NormalRefinement::k_indices_</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; int &gt; &gt; k_indices_</div><div class="ttdoc">indices of neighboring points</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:289</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_a2f4b2672735f25963583bffc8da87cb0"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#a2f4b2672735f25963583bffc8da87cb0">pcl::NormalRefinement::getConvergenceThreshold</a></div><div class="ttdeci">float getConvergenceThreshold()</div><div class="ttdoc">Get convergence threshold</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_a2fc672c7b1249ab686e5947c35d85389"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#a2fc672c7b1249ab686e5947c35d85389">pcl::NormalRefinement::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Filter a Point Cloud.</div><div class="ttdef"><b>Definition:</b> normal_refinement.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_a5446470db7e5631464bce6aa5b97282d"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#a5446470db7e5631464bce6aa5b97282d">pcl::NormalRefinement::convergence_threshold_</a></div><div class="ttdeci">float convergence_threshold_</div><div class="ttdoc">Convergence threshold in the interval [0,1] on the mean of 1 - dot products between previous iteratio...</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:298</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_a5938eccaed80043fb509a2fefcf7b377"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#a5938eccaed80043fb509a2fefcf7b377">pcl::NormalRefinement::getMaxIterations</a></div><div class="ttdeci">unsigned int getMaxIterations()</div><div class="ttdoc">Get maximum iterations</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_a87753f68d1bac8b8a0aea6425e1e8fe8"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#a87753f68d1bac8b8a0aea6425e1e8fe8">pcl::NormalRefinement::setMaxIterations</a></div><div class="ttdeci">void setMaxIterations(unsigned int max_iterations)</div><div class="ttdoc">Set maximum iterations</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:248</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_aba4dd20feed866330bfda0299ffbf5ba"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#aba4dd20feed866330bfda0299ffbf5ba">pcl::NormalRefinement::NormalRefinement</a></div><div class="ttdeci">NormalRefinement(const std::vector&lt; std::vector&lt; int &gt; &gt; &amp;k_indices, const std::vector&lt; std::vector&lt; float &gt; &gt; &amp;k_sqr_distances)</div><div class="ttdoc">Constructor for setting correspondences, sets default convergence parameters</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_ad98c13b9b37f269c7c297c5abc67bcdb"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#ad98c13b9b37f269c7c297c5abc67bcdb">pcl::NormalRefinement::setCorrespondences</a></div><div class="ttdeci">void setCorrespondences(const std::vector&lt; std::vector&lt; int &gt; &gt; &amp;k_indices, const std::vector&lt; std::vector&lt; float &gt; &gt; &amp;k_sqr_distances)</div><div class="ttdoc">Set correspondences calculated from nearest neighbor search</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_ae87cf1463b23d96ba02e486924c1739b"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#ae87cf1463b23d96ba02e486924c1739b">pcl::NormalRefinement::getCorrespondences</a></div><div class="ttdeci">void getCorrespondences(std::vector&lt; std::vector&lt; int &gt; &gt; &amp;k_indices, std::vector&lt; std::vector&lt; float &gt; &gt; &amp;k_sqr_distances)</div><div class="ttdoc">Get correspondences (copy)</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_af173d467d9dd002f54b063214ab0c3a7"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#af173d467d9dd002f54b063214ab0c3a7">pcl::NormalRefinement::NormalRefinement</a></div><div class="ttdeci">NormalRefinement()</div><div class="ttdoc">Empty constructor, sets default convergence parameters</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_refinement_html_af21df7cdd94a8cc28b4a5ef986af42b8"><div class="ttname"><a href="classpcl_1_1_normal_refinement.html#af21df7cdd94a8cc28b4a5ef986af42b8">pcl::NormalRefinement::k_sqr_distances_</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; float &gt; &gt; k_sqr_distances_</div><div class="ttdoc">squared distances to the neighboring points</div><div class="ttdef"><b>Definition:</b> normal_refinement.h:292</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_44e6750c3ba91f897faed10628147690.html">filters</a></li><li class="navelem"><a class="el" href="dir_95c17ef4f105c38f1bca096e54227aec.html">include</a></li><li class="navelem"><a class="el" href="dir_fe73964e53ed04dff1d72b4679c9e201.html">pcl</a></li><li class="navelem"><a class="el" href="dir_cbecde0f1c13abe661f13960a6611faf.html">filters</a></li><li class="navelem"><b>normal_refinement.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
